68062bdfbd
added alternative batching kernel (slow) tweaked controls a bit added command-line options --selected_demo=<int> and --new_batching started looking into parallel 3d sap
69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
#ifndef BT_GPU_SAP_BROADPHASE_H
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#define BT_GPU_SAP_BROADPHASE_H
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#include "parallel_primitives/host/btOpenCLArray.h"
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#include "parallel_primitives/host/btFillCL.h" //btInt2
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class btVector3;
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#include "parallel_primitives/host/btRadixSort32CL.h"
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#include "btSapAabb.h"
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class btGpuSapBroadphase
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{
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cl_context m_context;
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cl_device_id m_device;
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cl_command_queue m_queue;
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cl_kernel m_flipFloatKernel;
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cl_kernel m_scatterKernel ;
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cl_kernel m_copyAabbsKernel;
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cl_kernel m_sapKernel;
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cl_kernel m_sap2Kernel;
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class btRadixSort32CL* m_sorter;
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///test for 3d SAP
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btAlignedObjectArray<btSortData> m_sortedAxisCPU[3][2];
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int m_currentBuffer;
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public:
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btOpenCLArray<btSapAabb> m_allAabbsGPU;
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btAlignedObjectArray<btSapAabb> m_allAabbsCPU;
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btOpenCLArray<btSapAabb> m_smallAabbsGPU;
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btAlignedObjectArray<btSapAabb> m_smallAabbsCPU;
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btOpenCLArray<btSapAabb> m_largeAabbsGPU;
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btAlignedObjectArray<btSapAabb> m_largeAabbsCPU;
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btOpenCLArray<btInt2> m_overlappingPairs;
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//temporary gpu work memory
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btOpenCLArray<btSortData> m_gpuSmallSortData;
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btOpenCLArray<btSapAabb> m_gpuSmallSortedAabbs;
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btGpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q );
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virtual ~btGpuSapBroadphase();
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void calculateOverlappingPairs();
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void calculateOverlappingPairsHost();
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void init3dSap();
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void calculateOverlappingPairsHostIncremental3Sap();
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void createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
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void createLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
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//call writeAabbsToGpu after done making all changes (createProxy etc)
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void writeAabbsToGpu();
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cl_mem getAabbBufferWS();
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int getNumOverlap();
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cl_mem getOverlappingPairBuffer();
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};
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#endif //BT_GPU_SAP_BROADPHASE_H
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